A07441 — LR: Save the position offset of the absolute encoder adjustment

A07441 appears when the status of the absolute encoder adjustment has changed. The adjustment has determined a position offset (p2525) and a number of the drive data set (p2733), and these values still sit in volatile memory: to survive a power-down they must be written to non-volatile memory with p0971 or p0977. The alarm is the drive's prompt to complete that step.

The manual adds one exception to when the message appears: This message is not output when switching-on the axis after having first moved it in the switched-off state, as long as the parameterizable monitoring window was not exited.

• The motor or the encoder was replaced — the manual notes this applies to EQN and DQI encoders.
• Position-relevant parameters were changed.
• An encoder that had not been adjusted was adjusted.

1. Read the status of the absolute encoder adjustment in p2507 — the manual's remedy points to this parameter, so it shows which state the adjustment is in.
2. Readjust the encoder; this is the remedy the manual gives for the alarm.
3. Save the determined position offset (p2525) and the determined number of the drive data set (p2733) permanently: p0971 saves the drive object parameters and p0977 saves all parameters. Where an encoder that was not adjusted was adjusted, save the project in a non-volatile fashion using "Copy RAM to ROM".

• p2507 — LR absolute encoder adjustment status: read it to see which state of the adjustment the alarm is reporting.
• p2525 — CO: LR encoder adjustment offset: the position offset the adjustment determined; this is the value the alarm asks you to save permanently.
• p2733 — CO: LR encoder adjustment DDS: the number of the drive data set the adjustment determined; save it together with the offset.
• p0971 — save drive object parameters: writes the offset and the DDS number of this alarm to non-volatile memory.
• p0977 — save all parameters: performs the same save for all parameters, as the alternative to p0971.

Nothing has to be acknowledged: the manual lists no acknowledgement for this alarm and the drive does not trip in response. It is dealt with by doing the work it asks for — readjust the encoder, then save the determined position offset (p2525) and drive data set number (p2733) non-volatilely with p0971 or p0977, or, after adjusting a previously unadjusted encoder, with "Copy RAM to ROM".